microcontroller/include/remote_microcontroller/interface.hpp at main · openvmp/microcontroller · GitHub

47 lines (35 loc) · 1.05 KB

* OpenVMP, 2023

* Author: Roman Kuzmenko

* Created: 2023-03-26

* Licensed under Apache License, Version 2.0.

#ifndef OPENVMP_REMOTE_MICROCONTROLLER_INTERFACE_H

#define OPENVMP_REMOTE_MICROCONTROLLER_INTERFACE_H

#include <memory>

#include <string>

#include "rclcpp/rclcpp.hpp"

#include "remote_actuator/interface.hpp"

#include "remote_microcontroller/srv/reset.hpp"

#include "remote_serial/interface.hpp"

namespace remote_microcontroller {

class Interface {

public:

Interface(rclcpp::Node *node);

virtual ~Interface() {}

protected:

rclcpp::Node *node_;

rclcpp::CallbackGroup::SharedPtr callback_group_;

rclcpp::Parameter interface_prefix_;

std::string get_prefix_();

virtual bool reset_(bool hard, bool reflash) = 0;

private:

rclcpp::Service<srv::Reset>::SharedPtr srv_reset_;

rclcpp::FutureReturnCode reset_handler_(

const std::shared_ptr<srv::Reset::Request> request,

std::shared_ptr<srv::Reset::Response> response);

};

} // namespace remote_microcontroller

#endif // OPENVMP_REMOTE_MICROCONTROLLER_INTERFACE_H

Expand file tree